Position Control of Dielectric Elastomer Actuators Based on Port-Hamiltonian Framework

2018 ◽  
Author(s):  
Giuseppe Panaro ◽  
Gianluca Rizzello ◽  
David Naso ◽  
Stefan Seelecke
Keyword(s):  
Position Control ◽  
Dielectric Elastomer ◽  
Dielectric Elastomer Actuators

A Compliant Translational Mechanism Based on Dielectric Elastomer Actuators

2014 ◽  
Vol 136 (6) ◽  
Author(s):  
Chuc Huu Nguyen ◽  
Gursel Alici ◽  
Rahim Mutlu
Keyword(s):  
Position Control ◽  
Translational Motion ◽  
Minimum Energy ◽  
Dielectric Elastomer ◽  
Energy Structure ◽  
Driving Voltage ◽  
Experimental Frequency ◽  
Dielectric Elastomer Actuators ◽  
Proposed Model ◽  
Crank Mechanism

This paper reports on a linear actuation mechanism in the form of a parallel-crank mechanism (i.e., double-crank mechanism) articulated with two dielectric elastomer actuators working in parallel that are fabricated as a minimum energy structure. This structure is established by stretching a dielectric elastomer (DE) film (VHB4910) over a polyethylene terephthalate (PET) frame so that the energy released from the stretched DE film is stored in the frame as bending energy. The mechanism can output a translational motion under a driving voltage applied between two electrodes of the DE film. We have proposed visco-elastic models for the DE film and the frame of the actuator so that the mechanical properties of the actuator can more accurately be incorporated into the mechanism model. The proposed model accurately predicts the experimental frequency response of the mechanism at different voltages. In addition, an inversion-based feedforward controller was successfully implemented in order to further validate the proposed model for sensorless position control of the actuators and the parallel-crank mechanism articulated with these actuators.

Robust Position Control of Dielectric Elastomer Actuators Based on LMI Optimization

2016 ◽  
Vol 24 (6) ◽  
pp. 1909-1921 ◽  
Author(s):  
Gianluca Rizzello ◽  
David Naso ◽  
Biagio Turchiano ◽  
Stefan Seelecke
Keyword(s):  
Position Control ◽  
Dielectric Elastomer ◽  
Lmi Optimization ◽  
Dielectric Elastomer Actuators
Sign in / Sign up

Export Citation Format

Share Document